Khaled A. Mustafa — accepted AI-conference papers

2025

Dynamic Risk-Aware MPPI for Mobile Robots in Crowds via Efficient Monte Carlo Approximations

Elia Trevisan, Khaled A. Mustafa, Godert Notten, Xinwei Wang, Javier Alonso-Mora

IROS 2025

Deploying mobile robots safely among humans requires the motion planner to account for the uncertainty in the other agents’ predicted trajectories. This remains challenging in traditional approaches, especially with arbitrarily shaped predictions and real-time constraints. To address these challenge

Cited by 6 Source ↗Scholar ↗

2023

Probabilistic Risk Assessment for Chance-Constrained Collision Avoidance in Uncertain Dynamic Environments

Khaled A. Mustafa, Oscar de Groot, Xinwei Wang, Jens Kober, Javier Alonso-Mora

ICRA 2023poster

Balancing safety and efficiency when planning in crowded scenarios with uncertain dynamics is challenging where it is imperative to accomplish the robot's mission without incurring any safety violations. Typically, chance constraints are incorporated into the planning problem to provide probabilisti…

Cited by 11 Source ↗Scholar ↗